一种六杆并联机床数控系统程序设计

The NC system program design of a parallel kinematic machine with six bars

介绍了一种并联机床数控系统程序设计的软件开发环境、硬件平台、三大程序模块及其主要算法,包括NC代码的编写和译码、曲线插补算法、各插补点对应的杆长计算、每步的脉冲数计算和脉冲的发送以及各模块的界面.研究了在特定的编程格式下,动平台相对静平台有确定位姿的算法,并可根据不同需要移植和扩展各功能模块,该系统已成功应用于6-UPU并联机床的控制中.

The software development environment, hardware platform, three modules and main arithmetic of a parallel kinematic machine＇s NC system program have been introduced, including the interpolation arithmetic, the calculation of bar＇s length, the pulse number of every interpolation step and impulsion. A specific NC code form is used to make kinematic platform having affirmatory position and posture relatived to static platform. The function modules of the system software can be improved and expanded for different requirement. It has been applied successfully to 6-UPU parallel machine tool.